19 #ifndef HPP_CORE_PATH_OPTIMIZATION_CONFIG_OPTIMIZATION_HH 20 # define HPP_CORE_PATH_OPTIMIZATION_CONFIG_OPTIMIZATION_HH 22 # include <boost/function.hpp> 29 namespace pathOptimization {
63 template <
typename Traits >
static 82 boost::function <Configuration_t (const PathVector&)>
getGoal;
88 boost::function <bool ( JointConstPtr_t, const size_type)>
103 const std::size_t numIter)
const;
108 virtual std::size_t buildOptimizers (
const PathVector& pv,
109 Optimizers_t& projectors);
114 void buildConfigVector (
const PathVector& path,
117 template <
bool forward>
bool pass (
119 const Optimizers_t& optimizers,
const std::size_t& index,
130 Traits::addConfigConstraintToPath ();
142 #endif // HPP_CORE_PATH_OPTIMIZATION_CONFIG_OPTIMIZATION_HH ConfigProjectorPtr_t proj
Definition: config-optimization.hh:101
boost::shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
static ConfigProjectorPtr_t getConfigProjector(const PathPtr_t &before, const PathPtr_t &after, bool &isReverse)
boost::shared_ptr< ConfigOptimization > ConfigOptimizationPtr_t
Definition: fwd.hh:280
struct hpp::core::pathOptimization::ConfigOptimization::Parameters parameters
Definition: problem.hh:48
Definition: config-optimization.hh:72
ObjectFactory * create(ObjectFactory *parent=NULL, const XMLElement *element=NULL)
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
pinocchio::size_type size_type
Definition: fwd.hh:156
static bool addConfigConstraintToPath()
Definition: config-optimization.hh:42
boost::function< ConfigProjectorPtr_t(const PathPtr_t &, const PathPtr_t &, bool &) > getConfigProjector
Definition: config-optimization.hh:86
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:132
std::size_t numberOfIterations
Definition: config-optimization.hh:78
virtual Configuration_t initial() const
Get the initial configuration.
Definition: path-vector.hh:124
value_type alphaInit
Definition: config-optimization.hh:80
std::size_t numberOfPass
Definition: config-optimization.hh:76
static std::size_t numberOfPass()
Definition: config-optimization.hh:44
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:202
Definition: config-optimization.hh:41
Definition: config-optimization.hh:59
Definition: path-optimizer.hh:32
pinocchio::value_type value_type
Definition: fwd.hh:157
Concatenation of several paths.
Definition: path-vector.hh:32
bool addConfigConstraintToPath
Defaults to false.
Definition: config-optimization.hh:74
boost::function< Configuration_t(const PathVector &)> getGoal
Definition: config-optimization.hh:82
static value_type alphaInit()
Definition: config-optimization.hh:48
boost::shared_ptr< ConfigProjector > ConfigProjectorPtr_t
Definition: fwd.hh:104
static Configuration_t getGoal(const PathVector &path)
Definition: config-optimization.hh:50
static std::size_t numberOfIterations()
Definition: config-optimization.hh:46
boost::shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:176
Definition: config-optimization.hh:100
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:203
boost::function< bool(JointConstPtr_t, const size_type)> shouldFilter
Definition: config-optimization.hh:89
boost::shared_ptr< Implicit > ImplicitPtr_t
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
static ConfigOptimizationPtr_t createWithTraits(const Problem &problem)
Return shared pointer to new object.
Definition: config-optimization.hh:126
std::vector< Optimizer > Optimizers_t
Definition: config-optimization.hh:106
static bool shouldFilter(JointConstPtr_t joint, const size_type iDof)